Px4 vision dev kit problems

I have px4 vision dev kit 1.5 and I have a few questions.

  • When I connect to the drone by wifi, mavlink inspector shows me less messages than when I do it by connecting to the autopilot by usb c cable. Why does it happen? It is like message Distance Sensor has less frequency in wifi connection than cable connection or Odometry message does not appear in wifi connection.

  • Is there a problem with Collision Prevention? Because I did what it is in this page PX4 Vision Autonomy Development Kit | PX4 User Guide but when I switch to position mode I have no control with the drone.